Common Stock - Schedule of Common Stock Shares Reserved for Future Issuance (Details) - 2020 Plan and 2014 Plan - shares	Sep. 30, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Common stock reserved for future issuances	13,614,291	11,399,763
Options Issued and Outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuances	7,595,417	5,295,007
Restricted stock units outstanding
Class Of Stock [Line Items]
Common stock reserved for future issuances	420,167	0
Shares Available for Future Stock Option Grants
Class Of Stock [Line Items]
Common stock reserved for future issuances	5,598,707	6,104,756